Camera pose and plane estimation using active markers and a dynamic vision sensor

A system, comprising:

• a Dynamic Vision Sensor (DVS) configured to generate an event stream;
• a memory configured to store the event stream;
• a processor coupled to the memory and configured to perform operations using the event stream including:
• detecting a marker within a 3-dimensional (3D) environment by detecting a first plurality of light sources of the marker configured to blink at a first frequency, wherein the marker has a known shape;
• determining an orientation and an identity of the marker based upon detecting a second plurality of light sources of the marker configured to blink at a second frequency different from the first frequency;
• and
• determining a camera pose for the DVS based upon the known shape, the orientation, and the identity of the marker.

A computer program product, comprising:

• a computer readable storage medium having program code stored thereon, the program code executable by computer hardware to initiate operations including:
• detecting a marker within a 3-dimensional (3D) environment by detecting, using a Dynamic Vision Sensor (DVS), a first plurality of light sources arranged in a known shape and blinking at a first frequency, wherein the known shape corresponds to the marker;
• determining an orientation and an identity of the marker based upon detecting, using the DVS, a second plurality of light sources corresponding to the marker and blinking at a second frequency different from the first frequency;
• and
• determining a camera pose for the DVS based upon the known shape, the orientation, and the identity of the marker.